構造的に安定な非線形有限時間整定系の設計

概要

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Nonlinear control system with reference input which is not necessarily zero is treated. As nonlinear elements, backlash and limiter are considered. The signal which passes through nonlinear element is decomposed into the one which passes linear element and disturbance. At first for the model of linear system without above disturbance the feedback system is shown. Using Bezout identity, the control device is set to become internally stable and to settle in finite time, and as all of the poles of feedback transfer function become zero. Nonlinear open loop system is designed for the error between reference input and output of above linear system to become input of the control device. If controled object is controllable, the real part of the poles of controlled object can be moved far to the left half plane greatly by pole allocation. Then stational error by disturbance can be made small. Numerical examples for this nonlinear system are illustrated.
岡山理科大学の論文